Method of navigation of autonomous moving object

The paper describes the implementation of the Kalman filter for control of object moving in the plane. The object is described through system of non-linear equations. The system is put under a feedback linearization in the case that managing influences are constants during the period of discretization. As result is obtained an extended Kalman filter that increases the precision of the object managing, through the inaccuracies of its mathematical description and the disturbances in the observation.